/**
 * @file master.h
 * @author your name (you@domain.com)
 * @brief 驾驶主程序
 * @version 0.1
 * @date 2022-07-27
 *
 * @copyright Copyright (c) 2022
 *
 */

#ifndef _MASTER_H_
#define _MASTER_H_

#include "pid.h"

#define TURN_KP    1.0
#define TURN_KI    0
#define TURN_KD    0

#define TASK_1_SPEED  25
#define TASK_2_SPEED  35
#define TASK_3_SPEED  35

void ist_master_init(void);

void ist_master_start(void);

void ist_get_task_init(void);

extern PID_Data turn_pid;

#endif


